Titanite珞石機(jī)器人控制系統(tǒng)操作手冊 安裝編程與調(diào)試

下載地址：http://m.afoofa.cn/thread-121683-1-1.html
目錄....................................................................................................................................................I
1 安全...............................................................................................................................................1
1.1 關(guān)于本章 .......................................................................................................................................1
1.2 安全術(shù)語 .......................................................................................................................................2
1.2.1 安全標(biāo)識................................................................................................................................2
1.2.2 潛在危險................................................................................................................................3
1.2.3 安全特性................................................................................................................................3
1.2.4 什么是緊急停止....................................................................................................................5
1.2.5 使能開關(guān)................................................................................................................................6
1.3 工作中的安全事項(xiàng) .......................................................................................................................8
1.3.1 概述........................................................................................................................................8
1.3.2 關(guān)注自身安全........................................................................................................................8
1.3.3 操作示教器............................................................................................................................9
1.3.4 從急停狀態(tài)恢復(fù)....................................................................................................................9
1.3.5 手動模式的安全事項(xiàng)..........................................................................................................10
1.3.6 自動模式的安全事項(xiàng)..........................................................................................................10
1.3.7 緊急情況的處理..................................................................................................................11
1.4 操作及安全培訓(xùn) .........................................................................................................................13
1.4.1 概述......................................................................................................................................13
1.4.2 操作人員要求......................................................................................................................13
1.4.3 維護(hù)人員的要求..................................................................................................................13
1.4.4 培訓(xùn)......................................................................................................................................13
2 歡迎使用 TITANITE.......................................................................................................................14
2.1 關(guān)于本章 .....................................................................................................................................14
2.2 控制柜.........................................................................................................................................15
2.2.1 關(guān)于控制柜..........................................................................................................................15
2.2.2 控制柜布局..........................................................................................................................16
2.2.3 按鈕與接口..........................................................................................................................16
2.2.4 IO 及網(wǎng)口定義......................................................................................................................18
2.3 示教器.........................................................................................................................................23
2.3.1 關(guān)于示教器..........................................................................................................................23
2.3.2 按鈕與接口..........................................................................................................................23
2.3.3 如何握持示教器..................................................................................................................24
2.3.4 不使用示教器......................................................................................................................24
2.4 虛擬 HMI .....................................................................................................................................26
2.5 啟動系統(tǒng) .....................................................................................................................................27
2.6 維護(hù).............................................................................................................................................31
2.6.1 關(guān)于維護(hù)時的安全..............................................................................................................31
2.6.2 維修計(jì)劃..............................................................................................................................31
2.6.3 檢修間隔..............................................................................................................................31
3 操作界面 .....................................................................................................................................32
3.1 界面布局 .....................................................................................................................................32
3.1.1 狀態(tài)欄..................................................................................................................................32
3.1.2 快捷設(shè)置..............................................................................................................................33
3.1.3 主要頁面..............................................................................................................................33
3.1.4 界面切換..............................................................................................................................39
3.2 基本設(shè)置 .....................................................................................................................................41
3.2.1 用戶登錄..............................................................................................................................41
3.2.2 設(shè)置軟限位..........................................................................................................................41
3.2.3 系統(tǒng)升級..............................................................................................................................42
3.2.4 備份恢復(fù)..............................................................................................................................43
3.2.5 恢復(fù)出廠設(shè)置......................................................................................................................45
3.2.6 姿態(tài)調(diào)整..............................................................................................................................46
4 JOG 操作.......................................................................................................................................48
4.1 什么是 JOG？ ...............................................................................................................................48
4.2 機(jī)器人坐標(biāo)系統(tǒng) .........................................................................................................................49
4.3 JOG 時的注意事項(xiàng)........................................................................................................................51
4.4 開始 JOG.......................................................................................................................................52
4.4.1 選擇 Jog 參數(shù) ......................................................................................................................52
4.4.2 關(guān)節(jié)空間 Jog .......................................................................................................................53
4.4.3 笛卡爾空間 Jog ...................................................................................................................54
4.4.4 查看位置與 IO .....................................................................................................................54
5 編程和調(diào)試..................................................................................................................................58
5.1 關(guān)于本章 .....................................................................................................................................58
5.2 工作模式 .....................................................................................................................................59
5.2.1 手動模式..............................................................................................................................59
5.2.2 自動模式..............................................................................................................................59
5.2.3 模式切換..............................................................................................................................61
5.3 工具.............................................................................................................................................64
5.3.1 什么是工具？ ......................................................................................................................64
5.3.2 什么是工具中心點(diǎn)？ ..........................................................................................................64
5.3.3 定義工具..............................................................................................................................64
5.3.4 標(biāo)定工具坐標(biāo)系..................................................................................................................65
5.3.5 定義工具負(fù)載......................................................................................................................67
5.3.6 使用工具..............................................................................................................................68
5.3.7 外部工具功能......................................................................................................................69
5.4 工件.............................................................................................................................................71
5.4.1 什么是工件？ ......................................................................................................................71
5.4.2 定義工件..............................................................................................................................71
5.4.3 使用工件..............................................................................................................................72
5.5 基坐標(biāo)系 .....................................................................................................................................74
5.6 機(jī)械零點(diǎn) .....................................................................................................................................74
5.6.1 關(guān)于機(jī)械零點(diǎn)......................................................................................................................74
5.6.2 零點(diǎn)標(biāo)定..............................................................................................................................75
5.7 配置 IO ........................................................................................................................................77
5.8 可編程按鍵 .................................................................................................................................79
5.9 開始編程 .....................................................................................................................................81
5.9.1 管理程序文件......................................................................................................................81
5.9.2 創(chuàng)建一個工程......................................................................................................................82
5.9.3 編寫程序..............................................................................................................................82
5.9.4 視覺......................................................................................................................................85
5.10 程序調(diào)試 ...................................................................................................................................92
5.10.1 調(diào)試功能菜單....................................................................................................................92
5.10.2 運(yùn)行指針............................................................................................................................92
5.10.3 前瞻機(jī)制............................................................................................................................94
5.10.4 移動程序指針....................................................................................................................94
5.10.5 單步運(yùn)行............................................................................................................................95
5.10.6 重回路徑............................................................................................................................95
5.10.7 變量管理............................................................................................................................96
5.10.8 機(jī)器人的奇異性................................................................................................................97
5.10.9 VREP 仿真 ...........................................................................................................................99
6 工藝包 ....................................................................................................................................... 100
6.1 料盤...........................................................................................................................................100
6.1.1 概述....................................................................................................................................100
6.1.2 料盤管理............................................................................................................................100
7 RL 編程語言................................................................................................................................ 103
7.1 關(guān)于 RL 語言 .............................................................................................................................103
7.2 程序結(jié)構(gòu) ...................................................................................................................................104
7.2.1 概述....................................................................................................................................104
7.2.2 程序模塊............................................................................................................................104
7.2.3 函數(shù)....................................................................................................................................105
7.3 變量...........................................................................................................................................107
7.3.1 基本概念............................................................................................................................107
7.3.2 變量聲明............................................................................................................................109
7.3.3 變量類型............................................................................................................................110
7.4 運(yùn)算符.......................................................................................................................................136
7.4.1 優(yōu)先級................................................................................................................................138
7.5 指令...........................................................................................................................................139
7.5.1 AccSet ..................................................................................................................................139
7.5.2 ActUnit ................................................................................................................................140
7.5.3 BitAnd..................................................................................................................................140
7.5.4 BitCheck...............................................................................................................................141
7.5.5 BitClear................................................................................................................................141
7.5.6 BitLSh...................................................................................................................................142
7.5.7 BitNeg..................................................................................................................................142
7.5.8 BitOr ....................................................................................................................................143
7.5.9 BitRSh ..................................................................................................................................143
7.5.10 BitSet .................................................................................................................................144
7.5.11 BitXOr ................................................................................................................................145
7.5.12 Break .................................................................................................................................145
7.5.13 ByteToStr ...........................................................................................................................146
7.5.14 CalcJointT ..........................................................................................................................146
7.5.15 CalcRobT............................................................................................................................147
7.5.16 ClkRead..............................................................................................................................148
7.5.17 ClkReset .............................................................................................................................148
7.5.18 ClkStart ..............................................................................................................................149
7.5.19 ClkStop...............................................................................................................................149
7.5.20 CONNECT...........................................................................................................................150
7.5.21 Continue ............................................................................................................................150
7.5.22 CRobT ................................................................................................................................151
7.5.23 DeactUnit ..........................................................................................................................151
7.5.24 DecToHex...........................................................................................................................151
7.5.25 DoubleToByte ....................................................................................................................152
7.5.26 DoubleToStr .......................................................................................................................152
7.5.27 EulerToQuaternion ............................................................................................................152
7.5.28 HexToDec...........................................................................................................................153
7.5.29 DropWobj ..........................................................................................................................153
7.5.30 EXIT....................................................................................................................................153
7.5.31 FCAct .................................................................................................................................154
7.5.32 FCCalib...............................................................................................................................155
7.5.33 FCCondForce......................................................................................................................155
7.5.34 FCCondOrient ....................................................................................................................157
7.5.35 FCCondPosBox ...................................................................................................................158
7.5.36 FCCondPosCylinder ............................................................................................................158
7.5.37 FCCondPosSphere..............................................................................................................159
7.5.38 FCCondReoriSpeed.............................................................................................................160
7.5.39 FCCondTCPSpeed...............................................................................................................161
7.5.40 FCCondTorque....................................................................................................................162
7.5.41 FCCondWaitWhile..............................................................................................................163
7.5.42 FCDeact .............................................................................................................................164
7.5.43 FCLoadID ...........................................................................................................................164
7.5.44 FCRefCircle.........................................................................................................................165
7.5.45 FCRefForce.........................................................................................................................166
7.5.46 FCRefLine ...........................................................................................................................166
7.5.47 FCRefRot ............................................................................................................................167
7.5.48 FCRefSpiral ........................................................................................................................168
7.5.49 FCRefStart..........................................................................................................................168
7.5.50 FCRefStop ..........................................................................................................................169
7.5.51 FCRefTorque.......................................................................................................................169
7.5.52 FCSetSDPara ......................................................................................................................170
7.5.53 FCSupvForce ......................................................................................................................171
7.5.54 FCSupvOrient .....................................................................................................................172
7.5.55 FCSupvPosBox....................................................................................................................173
7.5.56 FCSupvPosCylinder ............................................................................................................174
7.5.57 FCSupvPosSphere ..............................................................................................................174
7.5.58 FCSupvReoriSpeed .............................................................................................................175
7.5.59 FCSupvTCPSpeed ...............................................................................................................176
7.5.60 FCSupvTorque ....................................................................................................................177
7.5.61 IDisable..............................................................................................................................178
7.5.62 IEnable...............................................................................................................................178
7.5.63 IF…ELSE…...........................................................................................................................178
7.5.64 IntToByte ...........................................................................................................................179
7.5.65 IntToStr ..............................................................................................................................180
7.5.66 ISignalDI ............................................................................................................................180
7.5.67 MemIn ...............................................................................................................................181
7.5.68 MemSw..............................................................................................................................181
7.5.69 MemOff .............................................................................................................................182
7.5.70 MemOn .............................................................................................................................182
7.5.71 MemOut ............................................................................................................................182
7.5.72 MotionSup.........................................................................................................................183
7.5.73 MoveAbsJ ..........................................................................................................................184
7.5.74 MoveJ ................................................................................................................................185
7.5.75 MoveL................................................................................................................................186
7.5.76 MoveC ...............................................................................................................................188
7.5.77 MoveT................................................................................................................................189
7.5.78 Offs ....................................................................................................................................191
7.5.79 Pause .................................................................................................................................191
7.5.80 Print...................................................................................................................................192
7.5.81 PulseDO .............................................................................................................................192
7.5.82 QuaternionToEuler ............................................................................................................193
7.5.83 RelTool ...............................................................................................................................193
7.5.84 RestoPath ..........................................................................................................................194
7.5.85 RETURN .............................................................................................................................195
7.5.86 SetDO ................................................................................................................................195
7.5.87 SetGO ................................................................................................................................195
7.5.88 SocketCreate......................................................................................................................196
7.5.89 SocketClose........................................................................................................................196
7.5.90 SocketSendByte .................................................................................................................197
7.5.91 SocketSendString ...............................................................................................................197
7.5.92 SocketReadBit....................................................................................................................198
7.5.93 SocketReadDouble.............................................................................................................199
7.5.94 SocketReadInt....................................................................................................................199
7.5.95 SocketReadString...............................................................................................................200
7.5.96 StartMove..........................................................................................................................200
7.5.97 StopMove ..........................................................................................................................201
7.5.98 StorePath...........................................................................................................................201
7.5.99 StrFind ...............................................................................................................................202
7.5.100 StrLen ..............................................................................................................................202
7.5.101 StrMap.............................................................................................................................203
7.5.102 StrMatch..........................................................................................................................203
7.5.103 StrMemb..........................................................................................................................204
7.5.104 StrOrder...........................................................................................................................205
7.5.105 StrPart .............................................................................................................................205
7.5.106 StrToByte .........................................................................................................................206
7.5.107 TestAndSet.......................................................................................................................207
7.5.108 TriggC ..............................................................................................................................207
7.5.109 TriggIO.............................................................................................................................209
7.5.110 TriggJ ...............................................................................................................................211
7.5.111 TriggL...............................................................................................................................212
7.5.112 WHILE ..............................................................................................................................213
7.5.113 Wait.................................................................................................................................214
7.5.114 WaitSyncTask...................................................................................................................214
7.5.115 WaitUntil .........................................................................................................................215
7.5.116 WaitWobj ........................................................................................................................216
7.5.117 數(shù)學(xué)指令........................................................................................................................216
7.6 中斷...........................................................................................................................................219
7.6.1 概述....................................................................................................................................219
7.6.2 中斷的識別和響應(yīng)............................................................................................................219
7.6.3 安全中斷............................................................................................................................219
7.6.4 使用中斷............................................................................................................................219
7.6.5 TRAP 作用域 .......................................................................................................................220
7.6.6 INTNO..................................................................................................................................220
7.6.7 TRAP 中有運(yùn)動指令 ...........................................................................................................220
8 可選功能 ................................................................................................................................... 222
8.1 功能授權(quán) ...................................................................................................................................222
8.2 外部導(dǎo)軌 ...................................................................................................................................223
8.2.1 概述....................................................................................................................................223
8.2.2 Jog 導(dǎo)軌 ..............................................................................................................................223
8.2.3 導(dǎo)軌編程............................................................................................................................224
8.2.4 使用限制............................................................................................................................224
8.3 碰撞檢測 ...................................................................................................................................225
8.3.1 概述....................................................................................................................................225
8.3.2 注意事項(xiàng)............................................................................................................................225
8.3.3 參數(shù)配置............................................................................................................................226
8.3.4 系統(tǒng)輸出............................................................................................................................228
8.3.5 避免誤報(bào)............................................................................................................................228
8.4 協(xié)作模式 ...................................................................................................................................229
8.4.1 概述....................................................................................................................................229
8.4.2 參數(shù)配置............................................................................................................................229
8.4.3 注意事項(xiàng)............................................................................................................................230
8.5 拖動回放 ...................................................................................................................................232
8.5.1 概述....................................................................................................................................232
8.5.2 模式切換............................................................................................................................232
8.5.3 參數(shù)配置............................................................................................................................232
8.5.4 基于路徑的拖動回放........................................................................................................233
8.5.5 基于時間的拖動回放........................................................................................................234
8.5.6 注意事項(xiàng)............................................................................................................................237
8.6 PROFINET....................................................................................................................................238
8.7 ETHERNET/IP.................................................................................................................................239
8.8 外部通信 ...................................................................................................................................240
8.9 多任務(wù).......................................................................................................................................242
8.9.1 概述....................................................................................................................................242
8.9.2 新建任務(wù)............................................................................................................................242
8.9.3 任務(wù)看板............................................................................................................................243
8.9.4 啟動和運(yùn)行任務(wù)................................................................................................................244
8.9.5 任務(wù)間通信........................................................................................................................245
9 故障排查 ................................................................................................................................... 246
9.1 按故障現(xiàn)象 ...............................................................................................................................247

【必讀】版權(quán)免責(zé)聲明

1、本主題所有言論和內(nèi)容純屬會員個人意見，與本論壇立場無關(guān)。2、本站對所發(fā)內(nèi)容真實(shí)性、客觀性、可用性不做任何保證也不負(fù)任何責(zé)任，網(wǎng)友之間僅出于學(xué)習(xí)目的進(jìn)行交流。3、對提供的數(shù)字內(nèi)容不擁有任何權(quán)利，其版權(quán)歸原著者擁有。請勿將該數(shù)字內(nèi)容進(jìn)行商業(yè)交易、轉(zhuǎn)載等行為，該內(nèi)容只為學(xué)習(xí)所提供，使用后發(fā)生的一切問題與本站無關(guān)。 4、本網(wǎng)站不保證本站提供的下載資源的準(zhǔn)確性、安全性和完整性;同時本網(wǎng)站也不承擔(dān)用戶因使用這些下載資源對自己和他人造成任何形式的損失或傷害。 5、本網(wǎng)站所有軟件和資料均為網(wǎng)友推薦收集整理而來，僅供學(xué)習(xí)用途使用，請務(wù)必下載后兩小時內(nèi)刪除，禁止商用。6、如有侵犯你版權(quán)的，請及時聯(lián)系我們（電子郵箱1370723259@qq.com）指出，本站將立即改正。

您好，這份國產(chǎn)機(jī)器人的編程說明書非常不錯吧